//  @ Project : SSU Robot Simulator
//  @ File Name : SCARA.h
//  @ Date : 4/4/2011
//  @ Author : Andrew Holbrook
//
//

#include "SSURoboSim/Kinematics/SCARA.h"
#include "SSURoboSim/Kinematics/PrismaticJoint.h"
#include "SSURoboSim/Kinematics/RevoluteJoint.h"

using SSURoboSim::Kinematics::SCARA;
using SSURoboSim::Kinematics::PrismaticJoint;
using SSURoboSim::Kinematics::RevoluteJoint;

SCARA::SCARA()
{
	Frame f;

	f.tz = 10.0f;
	addFrame(f);

	addPrismaticJoint(PrismaticJoint());

	f.tz = 0.0f;
	addFrame(f);

	addRevoluteJoint(RevoluteJoint());

	f.tx = 0.25f;
	addFrame(f);

	addRevoluteJoint(RevoluteJoint());

	addFrame(f);

	addPrismaticJoint(PrismaticJoint());

	addFrame(Frame());

	addRevoluteJoint(RevoluteJoint());
}
